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Probably the shift release solenoid or the switch or relay that activates it. This solenoid usually activates when you press the brake pedal, releasing the shifter. There is usually an emergency release button that can be accessed to release the shifter in the event this occurs. Check you users manual for the location of the release and how to activate it.

Look underneath the car below the front passenger footwell and underneath the selector lever is the gearbox, on the passenger side of the gearbox is a whitish plastic semi round box with a 2 pin connector and a 4 pin connector.it is held onto the gearbox with 2 8mm bolts, disconnect the connectors, remove the bolts then pry it off the shaft. ave a new one ready as the tend to fall apart when you take them off.

Check the brake switch. It should have four wires connected to it. Two for the brake lights, the other two for the shifter solenoid. Short the two wires that activate the solenoid. If the shifter solenoid activates when you short the wires, replace the brake switch. Otherwise the shifter solenoid maybe the problem. Also there is a manual release somewhere. It is usually a hole where you can stick a screwdriver into it. The hole maybe covered with a cap.

The shift interlock isn't working properly.When you step on the brake,the brake switch that activates the rear brake lights,also activates a solenoid mounted on the shifter,which allows the shifter to be moved from Park.Usually,it is the solenoid on the shifter,but the brake switch and the wiring between the two have to be inspected also.Good luck.